John Wesley on Genesis 25:26

His hand took hold on Esau's heel - This signified, Jacob's pursuit of the birth - right and blessing; from the first he reached forth to have catched hold of it, and if possible to have prevented his brother. His prevailing for it at last: that in process of time he should gain his point. This passage is referred to Hos 12:3, and from hence he had his name Jacob, a supplanter.